• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.309-315
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• 2020

This study shows a control strategy that acquires both precision and manipulation sensitivity of remote center motion with manual traction for a surgical assistant robot. Remote center motion is an essential function of a laparoscopic surgical robot. The robot has to keep the position of the insertion port in a three-dimensional space, and general laparoscopic surgery needs 4-DoF (degree-of-freedom) motions such as pan, tilt, spin, and forward/backward. The proposed robot consists of a 6-axis collaborative robot and a 2-DoF end-effector. A 6-axis collaborative robot performs the cone-shaped trajectory with pan and tilt motion of an end-effector maintaining the position of remote center. An end-effector deals with the remaining 2-DoF movement. The most intuitive way a surgeon manipulates a robot is through direct teaching. Since the accuracy of maintaining the remote center position is important, direct teaching is implemented based on position control in this study. A force/torque sensor which is attached to between robot and end-effector estimates the surgeon's intention and generates the command of motion. The predefined remote center position and the pan and tilt angles generated from direct teaching are input as a command for position control. The command generation algorithm determines the direct teaching sensitivity. Required torque for direct teaching and accuracy of remote center motion are analyzed by experiments of panning and tilting motion.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.4
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• pp.334-343
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• 2001

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. Some workers tend to gradually avoid the polishing work because of the poor environment caused by dust and noise. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed in this research. The polishing system with five degrees of freedom is able to keep the polishing tool normal to the die surface. The polishing system is controlled by a PC-NC controller. To easily operate the developed polishing robot system, this study developed an integrated program in the Windows environment. This program consists of four modules: the polishing module, the graphic simulator, the polishing data generation module, and the teaching module. Also, the automatic teaching system was developed to easily obtain teaching data and it consists of a three dimensional joystick and a proximity sensor. The joystick is used to simultaneously drive the polishing system to an arbitrary orientation and the proximity sensor is used to obtain teaching points precisely. Also, to evaluate the stability of the driving program and the teaching system, polishing experiments of a die of saddle shape were carried out.

• Journal of the Earthquake Engineering Society of Korea
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• v.3 no.2
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• pp.55-66
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• 1999

Eight RC bridge plers have been made on a 1/3.4 scale model and have been tested in a quasi-static cyclic load so as to investigate their seismic performance. The ultimate objective of this experimental study is to investigate the hysteretic behavior of reinforced concrete plers, which have been widely used for urban transportation facilities in Korea. Improtant test parameters are hoop ratio, axial load, load pattern, and etc. And noninear behaviors of test columns have been evaluated through their yield and ultimate strength, energy dissipation, ductility and load-deflection characteristics under quasi-static cyclic loads. From the quasi-static tests on 8 bridge piers, it is concluded that energy dissipation, ultimate strength and curvature for a given displacement factor ${\mu}={\Delta}/{\Delta}_y$ are higher for the seismically designed columns than for the nonseismically designed columns.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1998.04a
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• pp.89-97
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• 1998

This study is intended to investigate the seismic responses of bridge structures considering site effects. The site effects in the seismic analysis of bridge structures were classified into two parts. At first, the seismic responses of the structures on each "soil profile types" of the code were evaluated in accordance with code-specified method and compared with results of time-history analysis method. And next, as a second stage of the study, the responses of the two different soil with considerably different soil properties, even though they are classified to the same "soil profile types" of the code, were evaluated and compared each other. The first part of study is purposed to evaluate the applicability of code-specified method, while the other part is purposed to find the variance of the seismic responses from the different soil sites in the same soil profile types of the code. For the analysis, two major methods of the code, single-mode spectral anaysis and multi-mode spectral analysis, were used and the time-history analysis method which is expected to give more accurate responses was also used for the comparison purposes. For the time-history analysis, time-domain analysis technique of the lumped-mass model with frequency-independent soil springs and dampers was adopted and artificially generated spectra of the code was used as input motion. As the results of the study, the code specified methods for the seismic responses considering the site effects were verified to give the results in conservative side for the most of the cases. However, for the structures on the site with considerable flexibility, the responses of the bridge girders or deckplates by the code methods both in section forces and horizontal movement responses, may have much smaller values than the actual responses. Therefore, more detailed analysis considering the flexibility of the base soil may be required to have more reasonable results in girder responses.in girder responses.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.10
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• pp.1941-1948
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• 2016

The incident during commuting to school happened frequently in these days, such that the government announced the student commuting safety policy for addressing to implement the safety management system of the unsafer school commuting zone. In this paper, a commuting tracking system is proposed that notifies the location of vehicles and the boarding status of student using BLE beacon and smart phone GPS function. The commuting tracking system that gets the data from the system server of driver's smart phone GPS location and UUID of the beacon which had provided students has configured to provide notifications to parents and related administrators. It provides real-time information about whether a student boarding, boarding times and bus locations for parents and administrators. It verifies the disembarking time for each student and also provides to driver to secure if any student tries to board the wrong school bus and if any students is left behind in the bus.

• Journal of Korean Society of Steel Construction
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• v.10 no.3 s.36
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• pp.553-564
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• 1998

Recently, more and more steel-deck structural system for two story roads has been adopted as a solution against traffic congestion in urban area, mainly because of fast construction, reduced self-weight, higher stiffness and efficient erection compared to that of concrete decks. The main objective is to study on the unit-elective optimal type and proportioning of a rational steel-deck system for two story roads using an optimum design program specifically developed for steel-deck systems. The objective function for the optimization is formulated as a minimum cost design problem. The behavior and design constraints are formulated based on the ASD(Allowable Stress Design) criteria of the Korean Bridge Design Code. The optimum design program developed in this study consists of two steps - the first step for the optimization of the steel box or plate girder viaducts, and the second step for the optimum design of the steel-decks with closed or open ribs. A grid model is used as a structural analysis model for the optimization of the main girder system, while the analysis of the deck system is based on the Pelican-Esslinger method. The SQP(Sequential Quadratic Programming) is used as the optimization technique for the constrained optimization problem. By using a set of application examples, the rational type related to the optimized steel-deck system designs is investigated by comparing the cost effectiveness of each type. Based on the results of the investigation it may be concluded that the optimal linear box girder and deck system with closed ribs may be utilized as one of the most rational and economical viaducts in the construction of two-story roads.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.4 no.4
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• pp.25-36
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• 1984

This paper checked up the safety criteria of the steel structural members by LRFD. And it calculated the resistance and load modulus for it by the proposed method, considering our circumstance, by establisting the taget relability index (${\beta}_0$), and compared their calculated modulus with the nominal safety factors of the road-bridge code and analyzed them. Uncertain quantity measurements fnr the resistance of the steel structural members and for the load effect are due to the method of the uncertain quantity analysis of the load and the resistance, of Galambos-Ravindra and SGST. The summary of the results is as follows: 1) Considering our circumstance, taget relibility index(${\beta}_0$) for current steel structural members are appropriate ${\beta}_0=3.5$. 2) Nominal resistance ${\Phi}^{\prime}$ of the strength design formula for 1) and nominal load modulus ${\gamma}_i^{\prime}$ are as follows; a) Both-sides support plate: ${\Phi}{^{\prime}}=0.75$, ${\gamma}_0{^{\prime}}=1.04$, ${\gamma}_L{^{\prime}}=2.08$ b) One-side support plate: ${\Phi}{^{\prime}}=0.82$, ${\gamma}_0{^{\prime}}=1.04$, ${\gamma}_L{^{\prime}}=2.11$.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.12
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• pp.446-452
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• 2016

Recently, heat resistant super alloys (which are wear-resistant, corrosion-resistant, and heat-resistant), have been used as the basic structural material in offshore and petrochemical plants. On the other hand, making valves from very expensive, high heat-resistant alloys increases the production cost and decreases its market competitiveness. To solve these problems, the technique of overlaying only those that flow on the fluid has been used as an effective method. Nevertheless, because the former technique of overlaying the ball is performed manually, it takes too much time and perfect welding is difficult to perform. To solve this problem, this study developed a robot automation system that can make uniformly overlay welding of the ball for ball-valves. The system consists of a 6-axis welding robot with a welding torch and additional 2 axes for the rotation of positioner, the controller, and a robot path OLP (Off-Line Programming). The CAD drawing data was entered in the Off-line program to obtain the robot teaching point and drive source. Overlay welding paths were implemented using Matlab. Through an automated overlaying system that implemented the OLP, the productivity rose 2.58 times, as the amount of time required for work decreased from 88 hours to 41 hours.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.5 no.1
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• pp.13-20
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• 1985

Two Cable-Stayed bridge on south coast in Korea has not constructed until a quarter of a century past since the beginning of it's own era. Our country is about to be interested in such a type of bridge. It has succeeded in constructing the 500 m spanned bridge against wind and earthquake in other several countries. Many contries are striving for designning a long spanned bridge to 1000m. For the realization of such a long spanned bridge in Korea clues to the problems, "How to design it", should be solved one by one. One of difficulties is in analysing the mechanical system because of multi-orter indeterminacy. In this study one of the numerical methods is proposed in order to eliminate the troublesome.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.4
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• pp.7-16
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• 2009

A robot must be able to generate various skills to achieve given tasks intelligently and reasonably. The robot must first learn affordances to generate the skills. An affordance is defined as qualities of objects or environments that induce actions. Affordances can be usefully used to generate skills. Most tasks require sequential and goal-oriented behaviors. However, it is usually difficult to accomplish such tasks with affordances alone. To accomplish such tasks, a skill is constructed with an affordance and a soft behavioral motivation switch for reflecting goal-oriented elements. A skill calculates a behavioral motivation as a combination of both presently perceived information and goal-oriented elements. Here, a behavioral motivation is the internal condition that activates a goal-oriented behavior. In addition, a robot must be able to execute sequential behaviors. We construct skill networks by using generated skills that make action selection feasible to accomplish a task. A robot can select sequential and a goal-oriented behaviors using the skill network. For this, we will first propose a method for modeling and learning Bayesian networks that are used to generate affordances. To select sequential and goal-oriented behaviors, we construct skills using affordances and soft behavioral motivation switches. We also propose a method to generate the skill networks using the skills to execute given tasks. Finally, we will propose action-selection-mechanism to select sequential and goal-oriented behaviors using the skill network. To demonstrate the validity of our proposed methods, "Searching-for-a-target-object", "Approaching-a-target-object", "Sniffing-a-target-object", and "Kicking-a-target-object" affordances have been learned with GENIBO (pet robot) based on the human teaching method. Some experiments have also been performed with GENIBO using the skills and the skill networks.